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574 lines
19 KiB
574 lines
19 KiB
<sdf version='1.6'>
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<model name='boat'>
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<link name='base_link'>
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<pose>0 0 0 0 -0 0</pose>
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<inertial>
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<pose >0 0 0.124229 0 -0 0</pose>
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<mass>227</mass>
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<inertia>
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<ixx>181.42</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>408.203</iyy>
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<iyz>0</iyz>
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<izz>495.037</izz>
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</inertia>
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</inertial>
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<collision name='base_link_fixed_joint_lump__left_float_collision'>
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<pose >-0.4 1.03 0.2 3.14159 1.57079 3.14159</pose>
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<geometry>
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<cylinder>
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<length>4</length>
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<radius>0.2</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__left_mid_float_collision_1'>
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<pose>1.85 1.03 0.3 0 1.38 0</pose>
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<geometry>
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<cylinder>
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<length>0.5</length>
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<radius>0.17</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__left_front_float_collision_2'>
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<pose>2.3 1.03 0.4 0 1.3 0</pose>
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<geometry>
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<cylinder>
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<length>0.45</length>
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<radius>0.12</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__front_left_beam_lower_collision_3'>
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<pose>0.9 0.85 1 0.78 -0 0</pose>
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<geometry>
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<cylinder>
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<length>0.5</length>
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<radius>0.04</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__front_left_beam_upper_collision_4'>
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<pose>0.9 0.6 1.18 1.35 -0 0</pose>
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<geometry>
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<cylinder>
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<length>0.2</length>
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<radius>0.04</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__mid_left_beam_lower_collision_5'>
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<pose>-0.65 0.99 0.7 0.1 0.25 0</pose>
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<geometry>
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<cylinder>
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<length>0.45</length>
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<radius>0.03</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__mid_left_beam_medium_collision_6'>
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<pose>-0.57 0.87 1.05 0.75 0.25 0</pose>
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<geometry>
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<cylinder>
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<length>0.32</length>
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<radius>0.03</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__mid_left_beam_upper_collision_7'>
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<pose>-0.55 0.65 1.17 1.35 0.25 0</pose>
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<geometry>
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<cylinder>
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<length>0.3</length>
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<radius>0.03</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__rear_left_beam_lower_collision_8'>
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<pose>-0.74 1.03 0.7 0 -0.15 0</pose>
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<geometry>
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<cylinder>
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<length>0.45</length>
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<radius>0.03</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__rear_left_beam_medium_collision_9'>
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<pose>-0.79 0.91 1.05 0.75 -0.15 -0</pose>
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<geometry>
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<cylinder>
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<length>0.32</length>
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<radius>0.03</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__rear_left_beam_upper_collision_10'>
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<pose>-0.81 0.67 1.18 1.45 -0.15 0</pose>
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<geometry>
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<cylinder>
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<length>0.3</length>
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<radius>0.03</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__left_joint_collision_11'>
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<pose>0.58 1.03 0.6 0 -0.6 0</pose>
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<geometry>
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<box>
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<size>0.65 0.2 0.1</size>
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</box>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__right_float_collision_12'>
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<pose>-0.4 -1.03 0.2 3.14159 1.57079 3.14159</pose>
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<geometry>
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<cylinder>
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<length>4</length>
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<radius>0.2</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__right_mid_float_collision_13'>
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<pose>1.85 -1.03 0.3 0 1.38 0</pose>
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<geometry>
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<cylinder>
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<length>0.5</length>
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<radius>0.17</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__right_front_float_collision_14'>
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<pose>2.3 -1.03 0.4 0 1.3 0</pose>
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<geometry>
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<cylinder>
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<length>0.45</length>
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<radius>0.12</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__front_right_beam_lower_collision_15'>
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<pose>0.9 -0.85 1 -0.78 0 0</pose>
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<geometry>
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<cylinder>
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<length>0.5</length>
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<radius>0.04</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__front_right_beam_upper_collision_16'>
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<pose>0.9 -0.6 1.18 -1.35 0 0</pose>
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<geometry>
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<cylinder>
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<length>0.2</length>
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<radius>0.04</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__mid_right_beam_lower_collision_17'>
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<pose>-0.65 -0.99 0.7 -0.1 0.25 0</pose>
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<geometry>
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<cylinder>
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<length>0.45</length>
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<radius>0.03</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__mid_right_beam_medium_collision_18'>
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<pose>-0.57 -0.87 1.05 -0.75 0.25 0</pose>
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<geometry>
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<cylinder>
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<length>0.32</length>
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<radius>0.03</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__mid_right_beam_upper_collision_19'>
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<pose>-0.55 -0.65 1.17 -1.35 0.25 0</pose>
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<geometry>
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<cylinder>
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<length>0.3</length>
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<radius>0.03</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__rear_right_beam_lower_collision_20'>
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<pose>-0.74 -1.03 0.7 0 -0.15 0</pose>
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<geometry>
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<cylinder>
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<length>0.45</length>
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<radius>0.03</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__rear_right_beam_medium_collision_21'>
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<pose>-0.79 -0.91 1.05 -0.75 -0.15 0</pose>
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<geometry>
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<cylinder>
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<length>0.32</length>
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<radius>0.03</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__rear_right_beam_upper_collision_22'>
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<pose>-0.81 -0.67 1.18 -1.45 -0.15 0</pose>
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<geometry>
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<cylinder>
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<length>0.3</length>
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<radius>0.03</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__right_joint_collision_23'>
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<pose>0.58 -1.03 0.6 0 -0.6 0</pose>
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<geometry>
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<box>
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<size>0.65 0.2 0.1</size>
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</box>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__top_base_collision_24'>
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<pose>0 0 1.25 0 -0 0</pose>
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<geometry>
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<box>
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<size>1.85 1 0.1</size>
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</box>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__left_battery_collision_collision_25'>
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<pose>0 1 0.6 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.6 0.4 0.31</size>
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</box>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__right_battery_collision_collision_26'>
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<pose>0 -1 0.6 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.6 0.4 0.31</size>
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</box>
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</geometry>
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</collision>
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<visual name='base_link_fixed_joint_lump__dummy_link_visual'>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>model://boat/meshes/body.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<visual name='base_link_fixed_joint_lump__left_battery_visual_visual_1'>
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<pose>0 -0.03 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>model://boat/meshes/battery.dae</uri>
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</mesh>
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</geometry>
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<material>
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<script>
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<name>Gazebo/DarkGrey</name>
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<uri>__default__</uri>
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</script>
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</material>
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</visual>
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<visual name='base_link_fixed_joint_lump__right_battery_visual_visual_2'>
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<pose>0 -2.03 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>model://boat/meshes/battery.dae</uri>
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</mesh>
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</geometry>
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<material>
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<script>
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<name>Gazebo/DarkGrey</name>
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<uri>__default__</uri>
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</script>
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</material>
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</visual>
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<visual name='right_engine_link_visual'>
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<pose>-2.37378 -1.02713 0.318237 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>model://boat/meshes//engine.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<visual name='left_engine_link_visual'>
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<pose>-2.37378 1.02713 0.318237 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>model://boat/meshes//engine.dae</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<link name='left_propeller_link'>
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<pose>-2.65193 1.02713 -0.191134 0 1.57079 0</pose>
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<inertial>
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<pose>0 0 0 0 -0 0</pose>
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<mass>0.5</mass>
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<inertia>
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<ixx>0.008545</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.008545</iyy>
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<iyz>0</iyz>
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<izz>0.0144</izz>
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</inertia>
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</inertial>
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<collision name='left_propeller_link_fixed_joint_lump__left_propeller_collision_collision'>
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<pose>-0.08 0 0 3.14159 0.0 3.14159</pose>
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<geometry>
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<cylinder>
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<length>0.18</length>
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<radius>0.24</radius>
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</cylinder>
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</geometry>
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</collision>
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<visual name='left_propeller_link_visual'>
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<pose>0 0 0 0 -1.57079 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>model://boat/meshes/propeller.dae</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<joint name='left_engine_propeller_joint' type='revolute'>
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<child>left_propeller_link</child>
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<parent>base_link</parent>
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<axis>
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<xyz>1 0 0</xyz>
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<limit>
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<lower>-1e+16</lower>
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<upper>1e+16</upper>
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</limit>
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<dynamics>
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<!-- <damping>0.05</damping>
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<friction>0.05</friction> -->
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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<use_parent_model_frame>1</use_parent_model_frame>
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</axis>
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</joint>
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<link name='right_propeller_link'>
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<pose>-2.65193 -1.02713 -0.191134 0 1.57079 0</pose>
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<inertial>
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<pose>0 0 0 0 -0 0</pose>
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|
<mass>0.5</mass>
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|
<inertia>
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|
<ixx>0.008545</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.008545</iyy>
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<iyz>0</iyz>
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<izz>0.0144</izz>
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</inertia>
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</inertial>
|
|
<collision name='right_propeller_link_fixed_joint_lump__right_propeller_collision_collision'>
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<pose>-0.08 0 0 3.14159 0.0 3.14159</pose>
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<geometry>
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|
<cylinder>
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<length>0.18</length>
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<radius>0.24</radius>
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</cylinder>
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|
</geometry>
|
|
</collision>
|
|
<visual name='right_propeller_link_visual'>
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|
<pose>0 0 0 0 -1.57079 0</pose>
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|
<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>model://boat/meshes/propeller.dae</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<link name='boat/imu_link'>
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<pose>0 0 0 0 0 0</pose>
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|
<inertial>
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|
<pose>0 0 0 0 0 0</pose>
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|
<mass>0.015</mass>
|
|
<inertia>
|
|
<ixx>1e-05</ixx>
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|
<ixy>0</ixy>
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|
<ixz>0</ixz>
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|
<iyy>1e-05</iyy>
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|
<iyz>0</iyz>
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|
<izz>1e-05</izz>
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|
</inertia>
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|
</inertial>
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|
</link>
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|
<joint name='right_engine_propeller_joint' type='revolute'>
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<child>right_propeller_link</child>
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<parent>base_link</parent>
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<axis>
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<xyz>1 0 0</xyz>
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|
<limit>
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|
<lower>-1e+16</lower>
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|
<upper>1e+16</upper>
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|
</limit>
|
|
<dynamics>
|
|
<!-- <damping>0.05</damping>
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|
<friction>0.05</friction> -->
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|
<spring_reference>0</spring_reference>
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|
<spring_stiffness>0</spring_stiffness>
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|
</dynamics>
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|
<use_parent_model_frame>1</use_parent_model_frame>
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|
</axis>
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|
</joint>
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|
<joint name='boat/imu_joint' type='revolute'>
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|
<child>boat/imu_link</child>
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|
<parent>base_link</parent>
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|
<axis>
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|
<xyz>1 0 0</xyz>
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|
<limit>
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|
<lower>0</lower>
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<upper>0</upper>
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|
<effort>0</effort>
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|
<velocity>0</velocity>
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|
</limit>
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|
<dynamics>
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|
<spring_reference>0</spring_reference>
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|
<spring_stiffness>0</spring_stiffness>
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|
</dynamics>
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|
<use_parent_model_frame>1</use_parent_model_frame>
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|
</axis>
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</joint>
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|
<include>
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|
<uri>model://gps</uri>
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|
<pose>0 0 0.12 0 0 0</pose>
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|
<name>gps</name>
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|
</include>
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|
<joint name='gps_joint' type='fixed'>
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<child>gps::link</child>
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|
<parent>base_link</parent>
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|
</joint>
|
|
<plugin name='gazebo_imu_plugin' filename='libgazebo_imu_plugin.so'>
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|
<robotNamespace></robotNamespace>
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|
<linkName>boat/imu_link</linkName>
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|
<imuTopic>/imu</imuTopic>
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|
</plugin>
|
|
<plugin name='magnetometer_plugin' filename='libgazebo_magnetometer_plugin.so'>
|
|
<robotNamespace/>
|
|
<pubRate>100</pubRate>
|
|
<noiseDensity>0.0004</noiseDensity>
|
|
<randomWalk>6.4e-06</randomWalk>
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|
<biasCorrelationTime>600</biasCorrelationTime>
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|
<magTopic>/mag</magTopic>
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|
</plugin>
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<plugin name='barometer_plugin' filename='libgazebo_barometer_plugin.so'>
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<robotNamespace/>
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<pubRate>50</pubRate>
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<baroTopic>/baro</baroTopic>
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</plugin>
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<static>0</static>
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<plugin name='left_motor_model' filename='libgazebo_motor_model.so'>
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<robotNamespace></robotNamespace>
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<jointName>left_engine_propeller_joint</jointName>
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<linkName>left_propeller_link</linkName>
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<turningDirection>cw</turningDirection>
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<timeConstantUp>0.0125</timeConstantUp>
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<timeConstantDown>0.025</timeConstantDown>
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<maxRotVelocity>1100</maxRotVelocity>
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<motorConstant>8.54858e-02</motorConstant>
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<momentConstant>0.01</momentConstant>
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<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
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<motorNumber>0</motorNumber>
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<rotorDragCoefficient>0.000806428</rotorDragCoefficient>
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<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
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<motorSpeedPubTopic>/motor_speed/0</motorSpeedPubTopic>
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<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
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</plugin>
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|
<plugin name='left_motor_model' filename='libgazebo_motor_model.so'>
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<robotNamespace></robotNamespace>
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<jointName>right_engine_propeller_joint</jointName>
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<linkName>right_propeller_link</linkName>
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|
<turningDirection>cw</turningDirection>
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|
<timeConstantUp>0.0125</timeConstantUp>
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|
<timeConstantDown>0.025</timeConstantDown>
|
|
<maxRotVelocity>1100</maxRotVelocity>
|
|
<motorConstant>8.54858e-02</motorConstant>
|
|
<momentConstant>0.01</momentConstant>
|
|
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
|
|
<motorNumber>1</motorNumber>
|
|
<rotorDragCoefficient>0.000806428</rotorDragCoefficient>
|
|
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
|
<motorSpeedPubTopic>/motor_speed/1</motorSpeedPubTopic>
|
|
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
|
</plugin>
|
|
<plugin name='usv_dynamics_wamv_dynamics_plugin' filename='libgazebo_usv_dynamics_plugin.so'>
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<bodyName>base_link</bodyName>
|
|
<waterLevel>0</waterLevel>
|
|
<waterDensity>997.8</waterDensity>
|
|
<xDotU>0.0</xDotU>
|
|
<yDotV>0.0</yDotV>
|
|
<nDotR>0.0</nDotR>
|
|
<xU>51.3</xU>
|
|
<xUU>72.4</xUU>
|
|
<yV>102.6</yV>
|
|
<yVV>0.0</yVV>
|
|
<zW>500.0</zW>
|
|
<kP>50.0</kP>
|
|
<mQ>50.0</mQ>
|
|
<nR>400.0</nR>
|
|
<nRR>0.0</nRR>
|
|
<hullRadius>0.213</hullRadius>
|
|
<boatWidth>2.4</boatWidth>
|
|
<boatLength>4.9</boatLength>
|
|
<length_n>2</length_n>
|
|
<wave_model>ocean_waves</wave_model>
|
|
</plugin>
|
|
<plugin name='mavlink_interface' filename='libgazebo_mavlink_interface.so'>
|
|
<robotNamespace></robotNamespace>
|
|
<imuSubTopic>/imu</imuSubTopic>
|
|
<magSubTopic>/mag</magSubTopic>
|
|
<baroSubTopic>/baro</baroSubTopic>
|
|
<mavlink_addr>INADDR_ANY</mavlink_addr>
|
|
<mavlink_tcp_port>{{ mavlink_tcp_port }}</mavlink_tcp_port>
|
|
<mavlink_udp_port>{{ mavlink_udp_port }}</mavlink_udp_port>
|
|
<serialEnabled>{{ serial_enabled }}</serialEnabled>
|
|
<serialDevice>{{ serial_device }}</serialDevice>
|
|
<baudRate>{{ serial_baudrate }}</baudRate>
|
|
<qgc_addr>INADDR_ANY</qgc_addr>
|
|
<qgc_udp_port>14550</qgc_udp_port>
|
|
<sdk_addr>INADDR_ANY</sdk_addr>
|
|
<sdk_udp_port>14540</sdk_udp_port>
|
|
<hil_mode>{{ hil_mode }}</hil_mode>
|
|
<hil_state_level>false</hil_state_level>
|
|
<enable_lockstep>true</enable_lockstep>
|
|
<use_tcp>true</use_tcp>
|
|
<motorSpeedCommandPubTopic>/gazebo/command/motor_speed</motorSpeedCommandPubTopic>
|
|
<control_channels>
|
|
<channel name="left_rotor">
|
|
<input_index>0</input_index>
|
|
<input_offset>0</input_offset>
|
|
<input_scaling>100</input_scaling>
|
|
<zero_position_disarmed>0</zero_position_disarmed>
|
|
<zero_position_armed>0</zero_position_armed>
|
|
<joint_control_type>velocity</joint_control_type>
|
|
<joint_name>left_engine_propeller_joint</joint_name>
|
|
</channel>
|
|
<channel name="right_rotor">
|
|
<input_index>1</input_index>
|
|
<input_offset>0</input_offset>
|
|
<input_scaling>100</input_scaling>
|
|
<zero_position_disarmed>0</zero_position_disarmed>
|
|
<zero_position_armed>0</zero_position_armed>
|
|
<joint_control_type>velocity</joint_control_type>
|
|
<joint_name>right_engine_propeller_joint</joint_name>
|
|
</channel>
|
|
</control_channels>
|
|
</plugin>
|
|
</model>
|
|
</sdf>
|
|
|